Had all the same issues as most people in this thread. Posting to possibly help someone searching for answers.
In summary 2013 EXPO EL King Ranch 2wd 180k miles. Brake light would illuminate ever so often, then a few weeks ago BOOM all of the brake lights came on.
Read most of the threads on the web and ran some test with forscan on wheel speed sensors and thought I had a fix changing the front right speed sensor. No dice, but sensor from rock auto was cheap and only took 30 mins or so to swap. Fast forward ordered a used ABS module from eBay, after saving the data from the factory module and swapped it out. This didn't work apparently that module was bad, seller refunded right away which is nice. Now last week called around and searched on the web for a new unit, finally found a dealer Stillwell Ford in MI. Only dealer I found with multiple units, so naturally they wanted a arm and a leg. $500 or so including core charge. It showed up I took off the intake reached down Torx 20 4 screws a simple update on the for scan and back to normal.
In summary if you have a Christmas tree dash with brake light warnings save yourself a headache, please don't pay the dealer $1000+. Honestly if you can put your key in your ignition you can change this module. This is a massive wide spread issue with these modules. On F150 as well. They are on national back order. If you need to pull yours the car will drive and operate fine with it removed if you need to send it in for a core or possibly get repaired.
I hope this helps.